├── .gitignore ├── LICENSE ├── README.md ├── cpp └── rkhs_registration │ ├── CMakeLists.txt │ ├── cmake_module │ └── FindTBB.cmake │ ├── cvoConfig.cmake.in │ ├── include │ ├── LieGroup.h │ ├── adaptive_cvo.hpp │ ├── cvo.hpp │ ├── data_type.h │ └── pcd_generator.hpp │ ├── lib │ ├── libcvo.so │ └── libcvo_proj.so │ ├── script │ └── cvo_test.sh │ ├── src │ ├── LieGroup.cpp │ ├── adaptive_cvo.cpp │ ├── adaptive_cvo_main.cpp │ ├── cvo.cpp │ ├── cvo_main.cpp │ └── pcd_generator.cpp │ └── thirdparty │ ├── KDTreeVectorOfVectorsAdaptor.h │ ├── NumType.h │ ├── PixelSelector2.cpp │ ├── PixelSelector2.h │ ├── nanoflann.hpp │ ├── opencv_motion_filter.cpp │ └── opencv_motion_filter.hpp ├── data └── rgbd_dataset │ ├── freiburg1_desk │ ├── accelerometer.txt │ ├── assoc.txt │ ├── cv_rgbd_poses.csv │ ├── depth.txt │ ├── depth │ │ └── note.txt │ ├── freiburg1_desk-gt-pose.mat │ ├── freiburg1_desk_07-May-2019-02-35-00.mat │ ├── groundtruth.txt │ ├── opencv_freiburg1_desk.mat │ ├── pcd_ds │ │ ├── 1305031453.359684.pcd │ │ ├── 1305031453.391690.pcd │ │ ├── 1305031453.423683.pcd │ │ ├── 1305031453.459685.pcd │ │ ├── 1305031453.491698.pcd │ │ └── note.txt │ ├── pcd_full │ │ └── note.txt │ ├── rgb.txt │ └── rgb │ │ └── note.txt │ ├── rgbd_benchmark_tools │ ├── add_pointclouds_to_bagfile.py │ ├── assoc.sh │ ├── associate.py │ ├── evaluate_ate.py │ ├── evaluate_rpe.py │ ├── generate_pointcloud.py │ ├── generate_registered_pointcloud.py │ └── plot_trajectory_into_image.py │ ├── rgbddataset_cdf_plots.m │ ├── rgbddataset_rkhs.m │ └── rgbddataset_trajectory_plot.m ├── matlab ├── @rkhs_se3_registration │ └── rkhs_se3_registration.m └── run_toy_example.m └── util ├── figuresize.m ├── generate_pointclouds.m ├── import_assoc_file.m ├── pcRangeFilter.m └── ptcloud_edge_filter.m /.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | .vscode 3 | -------------------------------------------------------------------------------- /LICENSE: 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